Prof. Dr. Karsten Berns
Kontakt
Raum 48-360
Tel.: +49 631 205 2613
e-Mail:berns@informatik.uni-kl.de
Lehrstuhl Robotersysteme
Fachbereich Informatik
Technische Universität Kaiserslautern
Postfach 3049
67653 Kaiserslautern
Vita
Prof. Dr. Karsten Berns hat Informatik mit Schwerpunkt auf künstlicher Intelligenz an der Universität Kaiserslautern (1982-1988) studiert. Über seine Forschungen über "Neuronale Netze für die Steuerung einer sechsbeinigen Laufmaschine" promovierte er an der Universität Karlsruhe im Jahr 1994. Als Leiter der IDS (Interaktive Diagnose- und Servicesysteme)-Abteilung des FZI (Forschungszentrum Informatik), Karlsruhe (bis 2003) untersuchte er adaptive Steuerungskonzepte für verschiedene Arten von Servicerobotern. Seit 2003 ist er ordentlicher Professor an der Technischen Universität Kaiserslautern.
Aktuelle Forschungsaktivitäten sind die Realisierung von zuverlässigen, komplexen, autonomen Robotersystemen. Dabei entwickeln er und sein Lehrstuhl die Roboter-Middleware Finroc, die verhaltensbasierte Steuerungsarchitektur iB2C sowie verschiedene Validierungs- und Verifizierungsmethoden. Die Hauptanwendungen stammen aus der Offroad-Robotik, in der autonome oder semi-autonome Fahrzeuge wie Kleinlaster, Bagger, Mähdrescher, Traktoren und Rettungsroboter in der Entwicklung sind. Im Bereich der humanoiden Roboter werden die sozialen Roboter ROMAN und Robin zur Untersuchung der Mensch-Roboter-Interaktion entwickelt. Auch ein biologisch inspirierter, zweibeiniger Laufroboter ist in der Entwicklung, einschließlich "weicher" Aktuatoren und dem mechatronischen System des Zweibeiners.
Prof. Berns ist häufig Gutachter und assoziierter Editor verschiedener Zeitschriften und Robotik-Konferenzen wie ICRA, IROS und Humanoids. Darüber hinaus ist er Editor der ELSEVIER-Zeitschrift Robotics and Autonomous Systems und Mitglied einer Reihe von Redaktionsausschüssen. Er ist auch als Gutachter für mehrere nationale und internationale Förderorganisationen tätig. Er war Hauptvorsitzender mehrerer nationaler und internationaler Konferenzen. Er ist Mitglied des IEEE und der Gesellschaft für Informatik (GI).
Er ist Mitglied des Vorstandes der Deutschen Gesellschaft für Robotik (DGR) und leitet den Fachausschuss für Robotersysteme der GI. Er war Dekan des Fachbereichs Informatik an der Universität Kaiserslautern (2007 - 2010) und Mitglied des wissenschaftlichen Direktoriums Schloss Dagstuhl - Leibniz-Zentrum für Informatik (2008- 2014). Von 2010 bis 2020 war er Sprecher des Zentrums für Nutzfahrzeugtechnik (ZNT) an der Universität Kaiserslautern und des Commercial Vehicle Clusters, Kaiserslautern.
Veröffentlichungen (Auszug)
vollständige Publikationsliste
2022
Sortiere nach: Autor, Jahr, Titel
- On Demand Ride Sharing. Scheduling of an Autonoumous Bus Fleet for Last Mile Travel.
17th International Conference on Intelligent Autonomous Systems (IAS-17), (2022) - Continuous Inverse Kinematics in Singular Position.
Robotics for Sustainable Future, Vol. 324, S. 24 - 36. (2022) - Analysis of Object Detection Under Different Weather Conditions in Simulated and Real Environment.
Advances in Service and Industrial Robotics, S. 444 - 451. (2022) - Progress Estimation of an Excavation Pit.
Proceedings of the 39 th International Symposium on Automation and Robotics in Construction (ISARC 2022), (2022) - Paralinguistic Cues in Speech to Adapt Robot Behavior in Human-Robot Interaction.
Proceedings of the 9th IEEE RAS/EMBS International Conference on Biomedical Robotics & Biomechatronics (BioRob), (2022) - Traction optimization for robust navigation in unstructured environments using deep neural networks on the example of the off-road truck Unimog.
17th International Conference on Intelligent Autonomous Systems – IAS-17, S. 191 - 208. (2022) - A modular control architecture for safe and robust robot operation and inspection in steep slope vineyards.
Resilient Smart Farming Lab Workshop Informatik 2022 (RSF-Lab 2022), (2022) - Integration of human skeleton posture models into REACTiON for realizing dynamic risk management.
7th International Commercial Vehicle Technology Symposium Kaiserslautern – CVT 2022, (2022) - Disturbance and Particle Detection in LiDAR Data.
48th Annual Conference of the IEEE Industrial Electronics Society (IECON 2022), (2022) - Behavior-Based Visual Servoing on a Hybrid CPU-/FPGA-Platform.
ISR Europe 2022 – 54th International Symposium on Robotics, S. 150 - 157. (2022) - Harnessing Long-term Memory for Personalized Human-Robot Interactions.
Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots (Humanoids), (2022) - Multimodal Perceptual Cues for Context-aware Human-Robot Interaction.
The Joint International Conference of the 13th IFToMM International Symposium on Science of Mechanisms and Machines (SYROM 2022) and the XXV International Conference on Robotics (ROBOTICS 2022), (2022)
2021
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- Extending Skills of Autonomous Off-Road Robots on the Example of Behavior-Based Edge Compaction in a Road Construction Scenario.
Commercial Vehicle Technology 2020/2021. Proceedings of the 6th Commercial Vehicle Technology Symposium – CVT 2020/2021, (2021) - Technical Foundations of Embedded Systems. Electronics, System theory, Components and Analysis.
Lecture Notes in Electrical Engineering, Vol. 732, (2021)
https://www.springer.com/de/book/9783030651565 ISBN-13: 978-3-030-65156-5 - Data-fusion for robust off-road perception considering data quality of uncertain sensors.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), S. 6853 - 6860. (2021) - Adapting Behaviour of Socially Interactive Robot based on Text Sentiment.
30th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD), Vol. Advances in Service and Industrial Robotics, S. 221 - 228. (2021)
https://doi.org/10.1007/978-3-030-75259-0_24 - Utilizing Semantic and Contextual Information during Human-Robot Interaction.
Proceedings of the 11th IEEE International Conference on Development and Learning (ICDL), S. 1 - 6. (2021)
https://doi.org/10.1109/ICDL49984.2021.9515611 - Exploiting Conversational Topic Awareness for Interactive Robots.
Proceedings of the 20th IEEE International Conference on Advanced Robotics (ICAR), S. 474 - 479. (2021)
https://doi.org/10.1007/978-3-030-75259-0_24 - Towards Linguistic and Cognitive Competence for Socially Interactive Robots.
Proceedings of the 9th IEEE International Conference on Robot Intelligence Technology and Applications (RITA), Nr. 429, S. 520 - 530. (2021)
DOI: 10.1007/978-3-030-97672-9_47 - Autonome Navigation und Umfelderkennung eines Unimogs in unstrukturiertem Terrain.
Tagungsband DWT-SGW Forum Unmanned Systems VIII, S. 30. (2021) - Autonomes Arbeiten mit dem Unimog. Umrüstung für Arbeitseinsätze im Katastrophenschutz, bei Feuerwehr, Forstwirtschaft, Weinbau und Deponie.
CVC News, Vol. 2, S. 8 - 10. (2021) - Localization using OSM landmarks.
2021 Latin American Robotics Symposium (LARS), 2021 Brazilian Symposium on Robotics (SBR), and 2021 Workshop on Robotics in Education (WRE), S. 228 - 233. (2021)
DOI: 10.1109/LARS/SBR/WRE54079.2021.9605475 ISBN: 978-1-6654-0761-8 - Agriculture Digitalization and Organic Production – Proceedings of the First International Conference, ADOP 2021, St. Petersburg, Russia, June 7-9, 2021.
Smart Innovation, Systems and Technologies, Vol. 245, (2021) - Detection of Fungus in Gladiolus Fields Using a Quadcopter.
Advances in Service and Industrial Robotics, S. 127 - 134. (2021) - Drive on Pedestrian Walk. TUK Campus Dataset.
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), S. 3822 - 3828. (2021) - Provable Translational Robustness For Object Detection With Convolutional Neural Networks.
2021 IEEE International Conference on Image Processing (ICIP), S. 694 - 698. (2021) - Adaptive Zoom Control Approach of Load-View Crane Camera for Worker Detection.
Proceedings of the 38th International Symposium on Automation and Robotics in Construction (ISARC), S. 553 - 560. (2021) - Simulated Environment for Developing Crane Safety Assistance Technology.
Commercial Vehicle Technology 2020/2021, S. 459 - 470. (2021)
2020
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- Simulated Environment for Developing Crane Safety Assistance Technology.
Commercial Vehicle Technology 2020. Proceedings of the 6th Commercial Vehicle Technology Symposium – CVT 2020, (2020) - SLIP-Based Concept of Combined Limb and Body Control of Force-Driven Robots.
Advances in Service and Industrial Robotics, Vol. 84, S. 547 - 556. (2020) - Behavior-Based Obstacle Detection in Off-Road Environments Considering Data Quality.
Informatics in Control, Automation and Robotics, Vol. 495, S. 786 - 809. (2020) - Biologically Inspired Bipedal Locomotion - From Control Concept to Human-Like Biped.
Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin’s Readings”, S. 3 - 14. (2020) - Autonome Off-Road Navigation von Nutzfahrzeugen. Erfahrungsbericht und Testergebnisse des CVC-Leitprojekts zum autonomen Fahrbetrieb von Nutzfahrzeugen im Off-Road-Bereich.
CVC News, Vol. 1, S. 4 - 10. (2020) - Evolution of robotic simulators. Using UE 4 to enable real-world quality testing of complex autonomous robots in unstructured environments.
Proceedings of the 10th International Conference on Simulation and Modeling Methodologies, Technologies and Applications (SIMULTECH 2020), S. 271 - 278. (2020) - Simulation Platform for Crane Visibility Safety Assistance.
Advances in Service and Industrial Robotics, Vol. 84, (2020) - Advanced scene aware navigation for the heavy duty off-road vehicle Unimog.
The 9th International Conference on Advanced Concepts in Mechanical Engineering – ACME 2020. IOP Conference Series, Vol. 997, S. 1 - 18. (2020)
DOI: 10.1088/1757-899x/997/1/012093 - RADAR+RGB Fusion for Robust Object Detection in Autonomous Vehicles.
Proceedings of the 27th IEEE International Conference on Image Processing (ICIP), (2020) - Towards High-Quality Road Construction. Using Autonomous Tandem Rollers for Asphalt Compaction Optimization.
Proceedings of the 37th International Symposium on Automation and Robotics in Construction (ISARC), S. 90 - 97. (2020) - Autonomous Off-Road Navigation using Near-Feature-Based World Knowledge Incorporation on the Example of Forest Path Detection.
Preprint submitted to Robotics and Autonomous Systems, (2020) - Data-Driven Worker Detection from Load-View Crane Camera.
Proceedings of the 37th International Symposium on Automation and Robotics in Construction (ISARC), S. 864 - 871. (2020) - Pseudo-Randomization in Automating Robot Behaviour during Human-Robot Interaction.
Proceedings of the 10th IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-ER), S. 120 - 125. (2020)
https://doi.org/10.1109/ICDL-EpiRob48136.2020.9278115 - Technical Advantages and Disadvantages of Biarticular Actuators in Bipedal robots.
Robots in Human Life Proceedings of the 23rd International Conference on Climbing and Walking Robots and the support Technologies for Mobile Machines, S. 166 - 174. (2020) - Wenn Autos fahren wie von Geisterhand. Off-Road-Bereich wird zur Herausforderung / Nutzen wäre aber enorm.
KOMMUNALtopinform, Vol. 4, S. 62 - 63. (2020)
2019
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- Segmentation of Very Sparse and Noisy Point Clouds.
ICACR 2019, S. 119124. (2019) - Crop Edge Detection based on Stereo Vision.
Intelligent Autonomous Systems 15 – Proceedings of the 15th International Conference IAS-15, Vol. 867, (2019) - Autonomous trenching with hierarchically organized primitives.
Automation in Construction, Vol. 98, S. 214 - 224. (2019) - White Paper. High Quality Road Construction using 5G-AMMCOA. Autonomous Mobile Machine Communication for Off-Road Applications.
, S. 1 - 7. (2019) - Distributed Coordination and Task Assignment of Autonomous Tandem Rollers in Road Construction Scenarios.
36th International Symposium on Automation and Robotics in Construction (ISARC 2019), S. 953 - 960. (2019) - Combining Onthologies and Behavior-Based Control for Aware Navigation in Challenging Off-Road Environments.
Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2019), S. 135 - 146. (2019)
DOI: 10.5220/0007934301350146, ISBN: 9789897583803 - Dataset Generation Using A Simulated World.
Advances in Service and Industrial Robotics Proceedings of the 28th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2019), S. 505 - 513. (2019) - Design of the musculoskeletal leg CARL based on the physiology of mono-articular and biarticular muscles in the human leg.
Bioinspiration & biomimetics, Vol. 14, Nr. 6, S. 066002. (2019) - Technische Grundlagen Eingebetteter Systeme. Elektronik, Systemtheorie, Komponenten und Analyse.
(2019)
https://www.springer.com/de/book/9783658265151 ISBN-13: 978-3-658-26515-1 - Generation of Elevation Maps for Planning and Navigation of Vehicles in Rough Natural Terrain.
Advances in Service and Industrial Robotics, Vol. 980, S. 488 - 495. (2019)
https://doi.org/10.1007/978-3-030-19648-6_56 ISBN: 978-3-030-19648-6
2018
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- Behavior-Based Control for Safe and Robust Navigation of an Unimog in Off-Road Environments.
Commercial Vehicle Technology 2018. Proceedings of the 5th Commercial Vehicle Technology Symposium – CVT 2018, S. 63 - 76. (2018) - Cooperation and Communication of Autonomous Tandem Rollers in Street Construction Scenarios.
Commercial Vehicle Technology 2018. Proceedings of the 5th Commercial Vehicle Technology Symposium – CVT 2018, S. 25 - 36. (2018) - Combining Behavior-Based and Contract-Based Control Architectures for Behavior Optimization of Networked Autonomous Vehicles in Unstructured Environments.
Commercial Vehicle Technology 2018. Proceedings of the 5th Commercial Vehicle Technology Symposium – CVT 2018, S. 324 - 335. (2018) - Auf dem Weg zur autonomen Straßenfertigung. Kooperation und Kommunikation von vollautomatisierten Nutzfahrzeugen in der Baustelle von morgen am Beispiel von BOMAG Tandemwalzen..
CVC News, Vol. 1, S. 12 - 15. (2018) - Local Behavior-Based Navigation in Rough Off-Road Scenarios based on Vehicle Kinematics.
2018 IEEE International Conference on Robotics and Automation (ICRA), S. 719 - 724. (2018)
DOI: 10.1109/ICRA.2018.8460631 - Coordination of the Biarticular Actuators Based on Instant Power in an Explosive Jump Experiment.
IEEE International Conference on Advanced Intelligent Mechatronics (AIM), (2018) - Moment Arm Analysis of the Biarticular Actuators in Compliant Robotic Leg CARL.
Conference on Biomimetic and Biohybrid Systems, S. 348 - 360. (2018) - Behavior-Based Low-Level Control for (semi-) Autonomous Vehicles in Rough Terrain.
Proceedings of ISR 2018, S. 386 - 393. (2018) - Real-Time Recognition of Human Postures for Human-Robot Interaction.
Proceedings of the 11th International Conference on Advances in Computer-Human Interactions (ACHI), S. 114 - 119. (2018) - Emotion Based Human-Robot Interaction.
Proceedings of the 13th International Scientific-Technical Conference on Electromechanics and Robotics "Zavalishin’s Readings" (ER(ZR)), (2018) - Real-time Recognition of Extroversion-Introversion Trait in Context of Human-Robot Interaction.
Advances in Service and Industrial Robotics, Vol. 67, S. 63 - 70. (2018)
https://doi.org/10.1007/978-3-030-00232-9 - Crane safety system with monocular and controlled zoom cameras.
Proceedings of the 35th ISARC, Berlin, Germany, S. 873 - 879. (2018) - Behavior-Based Approach for Calculation of a Robot Arms Inverse Kinematics on a FPGA.
Proceedings of ISR 2018, S. 306 - 313. (2018) - Backhoe Bucket Volume and Trench Monitoring using a Time-of-Flight Camera.
7. Fachtagung Baumaschinentechnik 2018, (2018) - Automatic Assessment of Human Personality Traits. A Step towards Intelligent Human-Robot Interaction.
2018 IEEE-RAS 18th International Conference on Humanoid Robotics (Humanoids), S. 670 - 675. (2018)
https://doi.org/10.1109/HUMANOIDS.2018.8624975 - Behavior-Based Local Path-Planning by Exploiting Inverse Kinematics on FPGA.
Advances in Service and Industrial Robotics, S. 466 - 474. (2018) - Commercial Vehicle Technology 2018 – Proceedings of the 5th Commercial Vehicle Technology Symposium - CVT 2018.
(2018)
https://doi.org/10.1007/978-3-658-21300-8
2017
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- One Fits More - On the Relevance of Highly Modular Framework and Middleware Design for Quality Characteristics of Robotics Software.
First IEEE International Conference on Robotic Computing (IRC), (2017) - Ability of Humanoid Robot to Perform Emotional Body Gestures.
Advances in Service and Industrial Robotics, Vol. 49, S. 657 - 664. (2017)
http://www.springer.com/gp/book/9783319612751 ISBN: 978-3-319-61275-1 - Human Robot Interaction using Dynamic Hand Gestures.
Advances in Service and Industrial Robotics, Vol. 49, S. 647 - 656. (2017)
http://www.springer.com/gp/book/9783319612751 ISBN: 978-3-319-61275-1 - A Behavior-based Architecture for Excavation Tasks.
34th International Symposium on Automation and Robotics in Construction (ISARC), S. 1005 - 1012. (2017) - Quality-Based Behavior-Based Control for Autonomous Robots in Rough Environments.
Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017), Vol. 1, S. 513 - 524. (2017) - CARL – A Compliant Robotic Leg Featuring Mono- and Biarticular Actuation.
IEEE-RAS International Conference on Humanoid Robots, S. 289 - 296. (2017) - Autonomie in unwegsamem Gelände. Aktuelle Zwischenergebnisse des CVC-Leitprojekts zum autonomen Fahrbetrieb von Nutzfahrzeugen im Off-Road Bereich.
CVC News, Vol. 2, S. 8 - 11. (2017) - Unmanned Ground Robots for Rescue Tasks.
Search and Resuce Robotics - From Theory to Practice, S. 53 - 76. (2017)
http://www.intechopen.com/articles/show/title/unmanned-ground-robots-for-rescue-tasks ISBN: 978-953-51-3376-6 - Behaviour-Based Inverse Kinematics Solver on FPGA.
Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD), Vol. 49, S. 55 - 62. (2017) - Interactive Communication Between Human and Robot Using Nonverbal Cues.
Advances in Service and Industrial Robotics, Vol. 49, S. 673 - 680. (2017)
http://www.springer.com/gp/book/9783319612751 ISBN: 978-3-319-61275-1 - Bio-inspired Bipedal Speed Control in the B4LC System.
Human-centric Robotics-Proceedings Of The 20th International Conference Clawar 2017, S. 349. (2017) - One Fits More - On Highly Modular Quality-Driven Design of Robotic Frameworks and Middleware.
Journal of Software Engineering for Robotics (JOSER), Vol. 8, Nr. 1, S. 141 - 153. (2017) - Proceedings DGR Days 2017.
(2017)
http://dgr2017.informatik.uni-bremen.de/wp-content/uploads/2017/11/Proceedings-DGR-Days-2017.pdf